WO2016091441A1 - Système de protection d'un dispositif de déplacement d'éléments de transport - Google Patents

Système de protection d'un dispositif de déplacement d'éléments de transport Download PDF

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Publication number
WO2016091441A1
WO2016091441A1 PCT/EP2015/074380 EP2015074380W WO2016091441A1 WO 2016091441 A1 WO2016091441 A1 WO 2016091441A1 EP 2015074380 W EP2015074380 W EP 2015074380W WO 2016091441 A1 WO2016091441 A1 WO 2016091441A1
Authority
WO
WIPO (PCT)
Prior art keywords
reluctance
reluctance element
transport body
transport
plane
Prior art date
Application number
PCT/EP2015/074380
Other languages
German (de)
English (en)
Inventor
Anton Paweletz
Markus Hanisch
Sebastian GRAN
Joshua Windsheimer
Heike Raatz
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to US15/526,319 priority Critical patent/US10312787B2/en
Priority to EP15787515.4A priority patent/EP3231073B1/fr
Priority to CN201580066576.0A priority patent/CN107005138B/zh
Publication of WO2016091441A1 publication Critical patent/WO2016091441A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67709—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations using magnetic elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/06—Machines characterised by the presence of fail safe, back up, redundant or other similar emergency arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/47—Air-gap windings, i.e. iron-free windings

Definitions

  • the present invention relates to a transport system and a system for moving permanent magnet-excited transport body.
  • the present invention relates to an automatic braking of the transport body in the event of an interruption of an electrical power supply, wherein the goal is a fixed local arrangement of the transport body for braking the transport body under levitation.
  • the drive system of the system disclosed in WO 2013/059934 A1 has permanent magnets in the transport bodies, which are provided in an XY-Halbach arrangement.
  • the magnetic field of these permanent magnets interacts with the magnetic field of electrical conductors in the stator, which follow a specific x-y arrangement matched to the magnets.
  • a challenge is a safe braking and positional position of the transport body, in particular in the case of
  • the transport bodies still have relatively large amounts of kinetic energy during the movement, which on the one hand depends on the moving (supply) mass and on the other hand on the current one
  • the kinetic energy of the transport body is recuperated in a battery or a "supercap” in the DC link of the drive system or destroyed in a braking resistor.
  • the deceleration can also by using an energy buffer (uninterruptible
  • UPS Power supply
  • the above-identified object is achieved by a system for moving permanent magnet-excited transport body via an inductively excited magnetic field.
  • the transport body for example, for the
  • Transport of small and light vessels or objects may be used, as for example for pharmaceuticals (for example, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as ampoules, as
  • Test tube or similar
  • To generate the required for the drive and the carrying capacity magnetic field in the stator is a system of
  • Induction coils are provided, which are aligned in the x - or y - coordinate. These can be acted upon by a regulated electrical signal, on the one hand to generate a stable position, on the other hand, a desired propulsion in a predefined direction.
  • the system according to the invention comprises an adjustable (stored in the stator) first reluctance element and an actuator, the latter being arranged, the first
  • the two positions differ with respect to the transport body in that the permanent magnetic field of the transport body located above the first reluctance element in the second position has a lower magnetic resistance in a magnetic circuit through the first
  • Reluctance element experiences, as in the first position.
  • the position of the first reluctance element in the second position is the position of the first reluctance element in the second position
  • Reluctance elements in the second position can be aligned so that in each direction (coordinate x, or y) local areas arise in which the magnetic resistance reaches its minimum value
  • Transport body generated in the plane or reinforced, thanks to the above described inhomogeneity of Statorreluktanz in the direction of movement. In this way, the transport body can be safely braked and an uninterruptible power supply to carry out the braking operation is not mandatory, although to protect the surface of the stator active braking and landing of the transport body is desirable.
  • the system is arranged to change the magnetic resistance of the system for a permanent magnet field excited by a transport body by means of the first reluctance element at a position above the first reluctance element stronger than at a position adjacent to the first reluctance element.
  • the inhomogeneity of the reluctance is increased in the horizontal direction or in the direction of movement of the transport body from the perspective of the transport body in the stator, as soon as the first
  • Reluctance element is brought into the second position.
  • the total magnetic resistance is reduced from the perspective of the transport body and the magnetic flux is thereby increased as soon as the first
  • Reluctance element is brought into the second position, whereby the distance between the reluctance element and the permanent magnet array is reduced. In this way, the permanent magnetic field of the transport body independently and without power supply (in the de-energized state) for a secure position of the transport body in the event of power failure.
  • the actuator may be configured to place the first reluctance element in a changed position relative to a (for example fixed) second reluctance element of the system in order to change, in particular reduce, a total magnetic resistance through the first reluctance element and the second reluctance element.
  • the first reluctance element and the second reluctance element may in this case, for example, jointly design a magnetic circuit for the permanent magnetic field of the transport body and, if the first reluctance element is arranged in the second position, provide the magnetic field with a lower magnetic resistance.
  • the magnetic field is amplified by the magnetic forces at the interfaces of the second reluctance elements, which are arranged in particular closer to the transport body or at the air gap of the transport system. This also increases the braking forces on the otherwise comparatively unhindered inconvenienceg facedden transport body.
  • the actuator may be further configured a distance between the first
  • Reluctance element and the second reluctance element to change.
  • Magnetic gap may be greater in the first position of the first reluctance element than in the second position of the first reluctance element
  • An increase in the distance represents a comparatively large increase in the magnetic resistance as a function of a considered stroke of the first reluctance element.
  • One possibility of using the actuator for moving the first reluctance element is to displace the first reluctance element substantially parallel to the plane of the movement direction of the transport bodies and alternatively or additionally substantially perpendicular to the plane of the movement direction of the transport body.
  • the distance between the first reluctance element and the magnet array is commonly referred to as an "air gap," even though it is made of various magnetic materials
  • the actuator may be the first
  • Reluctance element about a substantially parallel to the plane of movement of the
  • Rotate the transport axle For example, the rotation can lead to a smaller distance between the permanent magnet of the transport body and the first reluctance element in the second position.
  • the first reluctance element can preferably have layered sheet-metal elements which, in particular in the first position, are oriented substantially perpendicular to the plane of the movement direction of the transport bodies.
  • the magnetic Resistance of the first reluctance element particularly high and the
  • orientation of the layered sheet metal elements of the first reluctance element in the second position can be substantially parallel to the plane of the movement direction of the transport body.
  • Reluctance elements may have layered sheet metal elements, wherein these are oriented in particular such that the layer surfaces lie in such a plane at which they adjoin the first reluctance element at least in the second position of the first reluctance element.
  • the first reluctance element can at least partially two
  • the second reluctance elements can have a cross-section which decreases steadily in a direction perpendicular to the plane of the movement direction of the transport body.
  • the second reluctance elements may have a pyramidal or truncated conical shape.
  • the actuator can now be set up, the first one
  • Reluctance element perpendicular to the plane of movement of the
  • Moving body to move ie up and down, or in the Z direction.
  • the first reluctance element may have a surface which, at least in the second position, corresponds in a planar manner to a surface of the second reluctance elements.
  • the largest possible interface between the first and the second reluctance element is present when the first reluctance element is in the second position.
  • Constellation arises in particular when the interface portions are substantially parallel and the surface of the first Reluctance element in this way to the surface (s) of the second
  • Reluctance element or the second reluctance elements hugs.
  • the actuator can have an energy storage device which comprises, for example, a spring (mechanical elasticity) and / or a hydraulic or pneumatic or electrical energy store.
  • an energy storage device which comprises, for example, a spring (mechanical elasticity) and / or a hydraulic or pneumatic or electrical energy store.
  • the compressed air storage can provide even in the case of a power failure, a (temporary) power supply and thus enable an actuation of the system.
  • a transport system which has a system according to the first-mentioned aspect of the invention and at least one transport body.
  • the transport body comprises a support body on which the cargo is to be positioned and permanent magnets, which may be provided for example in a Halbach arrangement.
  • the permanent magnets are arranged along the air gap of the system. In other words, the permanent magnets essentially follow the
  • Extension direction of the air gap are set up to produce a magnetic pattern, so that in conjunction with the reluctance element of the system according to the invention results in a strongly location-dependent force action in the direction of the plane, wherein location-dependent differences in the force effect are generated or amplified by the first reluctance element in the second position ,
  • an opposite to the direction of movement magnetic braking force results on the transport body, as soon as the first reluctance elements have taken the second position.
  • Transport body is therefore difficult or prevented.
  • a transport system constructed according to the invention can be realized in a particularly space and weight-saving manner. Due to the integration in the XY stator, a modularization of the stator structure can be realized. The achievable Delays between a power failure and a braking process are deterministic and as small as possible. An effective braking effect in a first braking phase can even be achieved in the system without large electrical storage or voltage buffering. In this phase you can generate a counterforce to the current direction of movement by a corresponding electrical control of the power electronics. The necessary energy comes from the kinetic energy of the transport body and is in the
  • transport bodies can be arranged on a system according to the invention.
  • the transport bodies can allow different functionalities.
  • a direct interaction of the operator with the system in a secured position (the first reluctance elements are in the second position) is possible.
  • the transport body are stationary in the currentless state and rigid with the
  • the transport body can not be removed now or only with a considerable effort. A risk of bruising by attraction between two transport bodies or a transport body and a magnetically conductive material is banned.
  • the present invention secured transport body can in
  • Magnetic field can not be moved. They remain assigned to the position at the time of the power failure and can not be swapped or rotated. In this way, a disruption of the transport process can be avoided and a relative assignment can be maintained. Magnetic coupling at a predefined position can increase manpower.
  • Embodiment of a transport system according to the invention; a schematic view of an embodiment with rotatable first reluctance elements in a second position; a schematic view of an embodiment with rotatable first reluctance elements in a first position;
  • Figure 7 is a schematic plan view of an embodiment of a transport system according to the invention with rotatable first reluctance elements
  • FIG. 8 shows a schematic embodiment of a
  • inventive transport system with a vertically displaceable profiled reluctance element in a first position; a three-dimensional view of that shown in Figure 9
  • Figure 17 is a schematic side view of an alternative
  • Embodiment of an actuator with an electromagnetic linear actuator in a second position Embodiment of an actuator with an electromagnetic linear actuator in a second position
  • Figure 18 is a schematic circuit diagram of the modular
  • FIG. 1 shows a transport system 100 according to the invention, in which a transport body 21 hovers by means of a magnetic field over a (stator) system 90 according to the invention.
  • the transport body 21 has a main body 1 as a supporting body, are arranged below the permanent magnets 2.
  • the system 90 has a stator with position sensors 3 and an underlying stator layer with a
  • Winding system 4 for generating the bearing forces and the propulsive forces.
  • a pure stiffening plane 50 is introduced below the winding system 4. This must not consist of a magnetically conductive material.
  • a reluctance layer 5, 6 is arranged below the stiffening plane 50, in which a static reluctance layer 5 and a movable reluctance layer 6 are contained. In this case, there is the option of "retracting" the movable reluctance layer 6 (or its movable reluctance elements) into the stiffening plane 50 so that the distance to the permanent magnets 2 of the
  • a lowermost layer of the system 90 forms a flat housing 7 with a distributed power electronics and
  • Control electronics The power and control electronics is set up position values from the signals of the position sensors 3 for correcting the electrical input variables for the winding system 4
  • FIG. 2 shows in the upper diagram a) a possible geometric arrangement of the permanent magnet elements 2 of the transport body 21 as well as a possible arrangement and configuration of the elements of the system 90 according to the invention.
  • the permanent magnets 2 are alternately divided into four
  • the trapezoidal static reluctance elements 12 are arranged essentially congruently with the reluctance elements 13 displaceably arranged via an actuator 14. In this way, they are arranged side by side
  • Reluctance element stack substantially magnetically isolated from each other.
  • About a vertical or horizontal dashes is a stacking direction or
  • the magnetic field 8 which must be closed over long distances by a magnetic insulator located between the movable (first) reluctance elements 13, is not very pronounced.
  • the induction coils of the winding system 4 due to a power outage no longer carry electrical power and the transport body
  • a coordinate system 10 shows the position of the X or the Z axis.
  • FIG. 2b shows the constellation shown in sub-figure a), after the actuator 14 in response to an interruption of a supply current
  • the self-adjusting permanent magnetic field 9 is much stronger because the magnetic air gaps between the reluctance elements 12 have been eliminated by the displacement of the lower reluctance layer 6 (the lines have been made more powerful as shown in FIG. 9).
  • the inhomogeneous reluctance of the system 90 leads to a preferred position of the transport body 21, in such a way that the vertically oriented permanent magnets 2 on the static
  • Reluctance elements 12 of the system 90 come to a halt.
  • Figure 3 shows the embodiment of Figure 2 in a schematic plan view.
  • 2a and 2b denote the Halbach permanent magnets of the transport body 21, the magnets 2a being aligned in the X direction and the magnets 2b being aligned in the Y direction.
  • 13a and 13b respectively, are the controllable first reluctance elements, with 13a oriented in the X direction and 13b oriented in the Y direction
  • the coordinate system 26 identifies the velocity components of the transport body 21 in FIG.
  • the surface of the transport body 21 corresponds to a multiplicity of controllable first reluctance elements 13a, 13b (see also FIG. 2). In the illustrated embodiment, the surface corresponds exactly to nine first reluctance elements 13a, 13b with a checkerboard-like orientation (in the X or Y direction).
  • FIG. 4 shows a variation of that illustrated in FIG
  • the flanks of the first reluctance elements 13 shown in FIG. 4 are held substantially vertically, wherein the first reluctance layer 6 has a first one embodied in one piece with the first reluctance layer 6
  • Reluctance elements 12 corresponding structures 13 1, which are interconnected via a substantially horizontally extending yoke 13_2. Analogous to that shown in connection with Figure 2
  • Embodiment which discloses a linear displacement of the reluctance elements 13, a comparable effect can be achieved via a rotational displacement about the Z-axis.
  • FIG. 5 shows an exemplary embodiment in which the first reluctance elements
  • a rack 44 corresponds with arranged in the region of the axes 43 gears, so that an actuator 14 via the rack 44 by movement along a double arrow 15 can ensure that in the second position of the first reluctance elements 13 shown in Figure 5, a distance between the first Reluctance elements 13 and the transport body 21 is minimal and the sheet metal elements are stacked in the vertical direction one above the other. In this way results in a minimal magnetic
  • FIG. 6 shows the embodiment shown in Figure 5, after the actuator
  • Embodiment with controllable e.g., rotatable
  • Reluctance elements 13a, 13b The arrangement of the components of the stator, the transport body 21 and the reluctance elements 13a, 13b is embedded in segments in the power electronics and control housing layer 7 below the reluctance element layers 5, 6. Narrow connection areas 91 line the edges of the controllable reluctance elements 13a, 13b and provide for a connection with the housing layer 7 and performing the electrical connections to the winding system of the stator.
  • Figure 8 shows a side view of an alternative embodiment of a transport system 100 according to the invention, in which a profiled first
  • Reluctance element 13 in the Z direction can be moved to bring it from a first position to a second position.
  • Figure 8 illustrates the second position, in which the comb-shaped profiled first
  • Reluctance element 13 is engaged with a correspondingly designed stiffening plane 94. This way is a distance to that
  • Transport body 21 is braked magnetically.
  • the braking effect results for the most part from the attraction forces of the magnets against the magnetic return via the reluctance elements of the system 90, which the formation of frictional forces (movement) and adhesive forces (standstill) for
  • first reluctance element 13 Due to the profiled shape of the first reluctance element 13, however, a more or less pronounced detent can additionally be achieved, as a result of which a magnetic braking force in the direction of the x or y direction is also produced.
  • the structure of the first reluctance element 13 may be formed identically in the X and Y directions, as discussed in the following
  • FIG. 10 and 1 1 is shown.
  • a single reluctance element 13 can be designed, which serves the differently oriented Halbach array magnets 2 equally and a direction-independent backup of
  • Transport body 21 allows.
  • the distance between the Halbach magnets 2 and the first reluctance element 13 can be determined by a vote of the mechanical structure of the stiffening plane 94 and the first
  • the stiffening plane 94 is made of a diamagnetic or paramagnetic material.
  • the first reluctance element 13 may be composed of a single or a combination of ferromagnetic materials. These include electrical sheets (sheet metal elements).
  • actuators such as pneumatic cylinders. Due to the non-linear increase in the tightening force in the z-direction when the air gap is reduced, it is possible to achieve compensation on the actuator side via suitable kinematics, for example a knee lever may be mentioned. 9 shows the exemplary embodiment introduced in FIG.
  • a drive mode in which the reluctance element 13 is removed by a predefined distance from the magnets 2 of the transport body 21. This distance is chosen such that the interaction of the magnetic fields
  • the ratio a through b of the widths of the reluctance element sections of different height has a direct effect on the shape of the holding and latching force a "b, the holding force is minimal and the latching force is maximum.
  • the holding force is due to the minimum distance between the first reluctance element 13 and the
  • Sensor layer 3 and the coil layer 4 corresponds, usually dominated by the detent force.
  • Figures 10 and 11 show the embodiment shown in Figures 8 and 9 and described above in an isometric view. It can be seen here that the dimensions a, b in both the X and Y directions describe the structure of the first reluctance element 13.
  • the reluctance element 13 may consist of a single or a composite of mechanical components. These elements can be displaced relative to one another and independently of one another in the Z direction (ie in the direction of the transport body 21) in order, for example, to reduce the mean force required to release the "safety mode" (second position) and, if appropriate, to divide it into a plurality of actuators.
  • Figures 12 and 13 show an embodiment with a two-part reluctance element.
  • the first reluctance element 13 consists of a repeating truncated pyramidal structure. This is in a safety mode relevant minimum distance from the magnet of the
  • Reluctance elements 13 are characterized by a static, with respect to its
  • first reluctance element 13 adapted yoke 12 surrounded as a second reluctance element. It consists of a fixed component, which is mounted in relevant for safety mode minimum distance from the permanent magnet of the transport body.
  • truncated pyramidal first reluctance elements 13 are correspondingly 12 in the direction of the transport body maximum in the yoke 12th
  • FIG. 14 shows a first embodiment of a toggle actuator 14, which has two stable states.
  • a lever 62 mounted below via an axle 63 is held in the position shown by two permanent magnets 65 and a coil 64 against the pressure force of a spring 68.
  • the spring 68 presses over the first reluctance layer 4 and a piston 66 on a substantially horizontally extending part of the toggle lever, which in a
  • a vertical lever 62 is mounted.
  • the coil 64 is mounted in an actuator stator 61, which may for example consist of layered sheets. If a supply voltage Us is switched off, the holding force generated via the coil 64 disappears on the lever 62 and the spring 68 overcomes the remaining holding force exerted by the permanent magnets 65.
  • FIG. 15 shows the result of a disconnection of the supply voltage Us.
  • the spring 68 has tilted the toggle lever via the piston 66, as a result of which the first reluctance layer 4 has entered a safety mode (second position).
  • the states shown in FIGS. 14 and 15 are currentless, so that no additional losses in the case of safety mode or drive mode have to be accepted.
  • the voltage Us is reversible.
  • a voltage eg, a current pulse
  • FIG. 16 shows an alternative exemplary embodiment of an actuator 14 which allows a particularly flat design via an electromagnetic linear coil arrangement.
  • a magnetic field 73 results, which closes over the corresponding surfaces of the iron cores 71, 72.
  • the lower half of the iron core 72 is coupled to the movable reluctance layer 6 via a piston 76.
  • a (not shown) spring is provided for the movable
  • Reluctance layer 6 bias to the left.
  • the linear direction of movement of the illustrated actuator 14 is indicated by a double arrow 75.
  • FIG. 17 shows the situation of the exemplary embodiment shown in FIG. 16 for an actuator 14 after the supply voltage has been switched off.
  • the decreasing magnetic forces cause the spring (not shown) to displace the movable reluctance layer 6 to the second position.
  • Stroke of the first reluctance layer 6 is marked with x * .
  • the illustrated linear actuator 14 allows an adjustable in both directions X and Y braking and holding force. Accordingly, versions of the illustrated arrangement for "pneumatically bi-stable" and “pneumatically linear” actuators can be realized by analogy with the electrical controls of Figures 14 to 17 with pneumatic power sources.
  • FIG. 18 shows a schematic circuit for the supply and control of the actuators according to the above-described systems 90 or the
  • the circuit is a modular power supply and control of the actuators.
  • the circuit is powered by a three-phase system 88, the voltage (eg 3x380V) via an AC / DC converter 81 to a central DC link voltage in a power rail 82nd is converted.
  • a three-phase system 88 the voltage (eg 3x380V) via an AC / DC converter 81 to a central DC link voltage in a power rail 82nd is converted.
  • the voltage eg 3x380V
  • AC / DC converter 81 the voltage
  • central DC link voltage in a power rail 82nd is converted.
  • two modules M1, M2 are shown, which in any number according to the mechanical conditions of an actual
  • Reference numeral 83 denotes a local voltage buffer in the form of a DC link capacitor, which is parallel to an electrical energy storage 86.
  • Energy storage 86 for example, in the form of a capacitor, a super cap, a battery or similar. for motor braking in case of a
  • a switch 85 Via a switch 85, a module-specific drive circuit 87 for the drive including a hatched Position switched on.
  • a B6 bridge is responsible for controlling the
  • Linear motors or the induction coils 4 (divided for a driving force in the direction of the x or y coordinate) provided.
  • the construction of a B6 bridge is well known in the literature and will not be discussed further here.
  • the presented systems or transport systems according to the present invention can be used, for example, for pharmaceutical applications or in production and assembly technology, without the

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  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Combustion & Propulsion (AREA)
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  • Microelectronics & Electronic Packaging (AREA)
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  • Condensed Matter Physics & Semiconductors (AREA)
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Abstract

L'invention concerne un système de transport (100) et un système de déplacement d'éléments de transport (21), excités par des aimants permanents, par le biais d'un champ magnétique inductif. Le système (90) comprend : -des bobines d'induction (4), - un premier élément à réluctance (13) monté de façon mobile, et un actionneur (14). Les bobines d'induction (4) sont adaptées pour être traversées par un courant afin d'entraîner les éléments de transport (21) sans contact dans un plan et l'actionneur (14) est adapté pour amener le premier élément à réluctance (13) d'une première position dans une seconde position. Le champ magnétique permanent (8, 9) d'un élément de transport (21), situé au-dessus du premier élément à réluctance (13), présente une résistance magnétique inférieure, dans un circuit magnétique passant par le premier élément à réluctance (13), qui est plus petite dans la seconde position que dans la première position.
PCT/EP2015/074380 2014-12-08 2015-10-21 Système de protection d'un dispositif de déplacement d'éléments de transport WO2016091441A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US15/526,319 US10312787B2 (en) 2014-12-08 2015-10-21 Safety system for an assembly for moving transport bodies
EP15787515.4A EP3231073B1 (fr) 2014-12-08 2015-10-21 Système de protection d'un dispositif de déplacement d'éléments de transport
CN201580066576.0A CN107005138B (zh) 2014-12-08 2015-10-21 用于使运输体运动的设备的安全系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014225171.0 2014-12-08
DE102014225171.0A DE102014225171A1 (de) 2014-12-08 2014-12-08 Sicherungssystem für eine Anordnung zum Bewegen von Transportkörpern

Publications (1)

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WO2016091441A1 true WO2016091441A1 (fr) 2016-06-16

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PCT/EP2015/074380 WO2016091441A1 (fr) 2014-12-08 2015-10-21 Système de protection d'un dispositif de déplacement d'éléments de transport

Country Status (5)

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US (1) US10312787B2 (fr)
EP (1) EP3231073B1 (fr)
CN (1) CN107005138B (fr)
DE (1) DE102014225171A1 (fr)
WO (1) WO2016091441A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
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US10008915B2 (en) 2011-10-27 2018-06-26 The University Of British Columbia Displacement devices and methods for fabrication, use and control of same
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CN107005138B (zh) 2019-06-04
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EP3231073B1 (fr) 2021-03-24
CN107005138A (zh) 2017-08-01
US10312787B2 (en) 2019-06-04

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